US4288849A - Machine tool control systems - Google Patents

Machine tool control systems Download PDF

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Publication number
US4288849A
US4288849A US06/009,677 US967779A US4288849A US 4288849 A US4288849 A US 4288849A US 967779 A US967779 A US 967779A US 4288849 A US4288849 A US 4288849A
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United States
Prior art keywords
machine tool
program
machine
interface unit
control device
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Expired - Lifetime
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US06/009,677
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English (en)
Inventor
Tetsu Yoshida
Katsunori Higashikawa
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Shibaura Machine Co Ltd
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Toshiba Machine Co Ltd
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Filing date
Publication date
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Publication of US4288849A publication Critical patent/US4288849A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36044—Program modified after breakage, crash, jamming
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36511—Select by a detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37285—Load, current taken by motor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50103—Restart, reverse, return along machined path, stop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50249—Tool, probe, pen changer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50276—Detect wear or defect tool, breakage and change tool
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • This invention relates generally to control systems of machine tools, and more particularly to a type thereof capable of controlling machine tool or tools in a fully automatic manner.
  • a supervisory apparatus such as a computer which delivers instructions, for instance, for starting, stopping, and restarting the machine tools and the peripheral apparatus, or otherwise each machine tool must be provided with a loop circuit capable of generating a restarting signal.
  • control system wherein the supervisory computer includes a part common for the operations (such as distribution of data and on-off control of the cycle start) of the ordinary numerical control (NC) devices of the NC type machine tools, and at this time each NC device of the machine tool carries out remaining part of the NC operation, such as interpolation and else.
  • NC numerical control
  • present-day machine tools constituting the components of the control system have their own NC devices, and the conveyor apparatus and the like also have their own controllers, all of the NC devices and the controllers being operable independently.
  • an NC device In order that an NC device is capable of suitably, controlling the corresponding machine tool, there must be provided an interface between the NC device and the machine tool, through which are executed most of the sequential operations other than those accompanying the axis-movements of the machine tool.
  • the controllers themselves of the conveyors and the like are also provided with interfaces regardless of whether instruction input means are provided for each controller or not.
  • a primary object of the present invention is to provide a machine tool control system wherein the above described difficulties are duly obviated.
  • Another object of the invention is to provide a machine tool control system wherein a machine control unit (MCU) for each machine tool has far better adaptability than that of the conventional MCU.
  • MCU machine control unit
  • a machine tool control system comprising a numerical control device associated with a machine tool and an interface unit interposed between the machine tool and the numerical control device, the numerical control device including a first memory area which stores a first group of programs related to the machining of a workpiece and also to the selection of cutting tools suitable for the machining, and a second memory area which stores a second group of programs to be executed in interruption of the first group of programs and accompanying the axis-movements of the machine tool, as in the cases of retraction at the time of abnormal cutting, and selection and replacement of the cutting tools, and the interface unit providing access to each unit program of the first and second program groups.
  • a microprocessor may be provided in the interface unit for providing access to each unit program of the first and second program groups depending on the states of sequence signals arriving at the interface unit.
  • a central control unit may be further provided for monitoring sequence signals arriving at the interface unit for each machine tool, and this control unit may provide access in accordance with a predetermined process program to the first and second program groups stored in the numerical control device through the interface unit corresponding thereto.
  • FIGURE is a block diagram showing a control system of machine tools, which constitutes a preferred embodiment of the invention.
  • machine control units MCU1 and MCU2 each comprising an interface unit IF and a numerical control device NC.
  • the interface unit IF in each MCU is connected to an MCU controller (MCU/CTRL) which supervises the MCU1 and MCU2.
  • a workpiece W is mounted on a pallet P, which in turn is mounted on a pallet loader PL of a self-propelling type, and moved along a transfer line C.
  • Tool magazines TMG1 and TMG2 are also provided for respective machine tools MT1 and MT2.
  • the numerical control device NC has a memory area termed sub-program linkage SPL, beside of the conventional memory area storing ordinary part-programs.
  • the sub-program linkage SPL there are memorized programs of interrupting nature (interrupting the part programs stored in the conventional area), inclusive of the instructions instructing the axis-movements of the machine tool, such as a retract cycle movement at the time of abnormal cutting and a tool selecting and replacing operations.
  • program of interrupting nature interrupting the part programs stored in the conventional area
  • machine operating sequence signals are transmitted and received through a line L.
  • shaft driving pulses, feed-back pulses, and the like are transmitted and received shaft driving pulses, feed-back pulses, and the like through a line L'.
  • Various sequence signals are also delivered from the NC device to the interface unit IF.
  • the MCU controller MCU/CTRL is monitoring the sequence signals, arriving at each interface IF, in accordance with a predetermined supervising program, and where it is necessary required signals are sent out such as a Feed Hold signal (for stopping the relative movements between the workpiece and the cutting tool), a Reset signal of the NC device, a Cycle Start signal of the NC device, a signal for designating required addresses in the memory area SPL of the NC device, a signal for designating the numbers of the required part-programs stored in the NC device, and a signal instructing completion of the cutting operation, toward the interface IF of the machine control unit MCU. That is, the NC device is controlled through the interface IF by the MCU controller MCU/CTRL.
  • the monitoring program for the MCU controller is so determined that it controls a plurality of interfaces IF in the machine control units, and therefore the machine control units in an operatively related manner.
  • the MCU controller MCU/CTRL is required when a plurality of machine tools are controlled as shown in the drawing.
  • a microprocessor controller MC instead of the MCU controller, may be provided in the MCU or in the interface unit IF in a manner such that the microprocessor controller MC monitors the sequence signals arriving at the interface unit IF from the NC side and the machine tool side, and delivers the above described Feed Hold signal, Cycle Start signal, or Rest signal of the NC device or assigns the required SPL or the required part programs as described above.
  • an operating program including an on-off control of the power source and a warming-up control of the machine tools is essential.
  • an on-off control program, or warming-up program may be contained in the monitoring program of the MCU controller, or such a program may be prepared as one part of the SPL of the NC device in the machine control unit MCU.
  • a pallet Pj carrying a work piece Wj is transported on a pallet loader PL along the transfer line C, and that the work piece Wj on the pallet Pj is finally set on a table t of the machine tool MT1.
  • the signal j is sent to the interface unit IF.
  • the MCU controller MCU/CTRL recognizes the setting of the pallet Pj on the table t.
  • the MCU controller thus designates through the interface IF a part program PAj corresponding to the work piece Wj among the part programs stored in the NC device, and the part program PAj is executed for successive blocks.
  • the MCU controller immediately recognizes this condition, and delivers a Feed Hold signal to the interface unit IF with a priority over the execution of the program block of the part program PAj. That is, the movements with respect to the axes of the machine tool MT1 are now initiated.
  • the MCU controller then designates a program which is relevant to a retract cycle and is stored in the memory region SPL in the NC device.
  • the number of the block of the part program which has been executed is thus saved in a register within the interface IF, and the machine tool MT1 starts to practice the retract cycle inclusive of the shaft movement, until the cutting tool Ti is separated by a predetermined distance from the work piece Wj.
  • the MCU controller MCU/CTRL designates, through the interface unit IF, a tool selecting and replacing program stored in the memory area SPL in the NC device, the program instructing the selection of a cutting tool Tia from those stored in the magazine TMG1 and the replacement of the damaged cutting tool Ti by the selected cutting tool Tia.
  • the MCU controller may designate the SPL so that the workpiece Wj is removed out of the table t of the machine tool MT1 when the machine tool Ti is broken.
  • a part program PAk for transporting another work piece Wk onto the table t which has been beforehand stored in the memory region SPL in the NC device, is designated by the MCU controller MCU/CTRL through the interface unit IF. Furthermore, the fact that the cutting tool Ti is in the broken state is recorded in its history.
  • a power-source turning-off program stored in the SPL in the NC device is designated by the MCU controller upon reception of the completion signal.
  • the power source is turned off after the last pallet (Last P) is moved to a predetermined position adapted for the transfer of the pallet onto a pallet loader PL corresponding thereto.
  • sub-program linkage SPL is provided in the NC device for storing cycle-operation programs accompanying axis-movements of the machine tool, and since the sub-program linkage is made accessible through the interface unit as in the case of the part programs, a control system of machine tool or tools having wide adaptability (capable of machining various workpieces for a long period, and also adapting to extraordinary conditions such as broken cutting tool) can be thereby obtained.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Control By Computers (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • General Factory Administration (AREA)
US06/009,677 1978-02-08 1979-02-05 Machine tool control systems Expired - Lifetime US4288849A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP1316778A JPS54106780A (en) 1978-02-08 1978-02-08 Controlling of plural machine tools
JP53-13167 1978-02-08

Publications (1)

Publication Number Publication Date
US4288849A true US4288849A (en) 1981-09-08

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ID=11825608

Family Applications (1)

Application Number Title Priority Date Filing Date
US06/009,677 Expired - Lifetime US4288849A (en) 1978-02-08 1979-02-05 Machine tool control systems

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Country Link
US (1) US4288849A (enrdf_load_stackoverflow)
JP (1) JPS54106780A (enrdf_load_stackoverflow)
DE (1) DE2904080C2 (enrdf_load_stackoverflow)

Cited By (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4345192A (en) * 1979-10-09 1982-08-17 Fujitsu Fanuc Limited Control system for stopping spindle at predetermined rotational position
US4370705A (en) * 1979-09-18 1983-01-25 Fujitsu Fanuc Limited Sequence control system for numerically controlled machine tool
US4379987A (en) * 1979-10-09 1983-04-12 Fujitsu Fanuc Limited Spindle rotation control system
FR2527011A1 (fr) * 1982-05-14 1983-11-18 Gnb Batteries Inc Appareil et procede pour le soudage de connexions entre elements de batteries
US4433383A (en) * 1979-12-27 1984-02-21 Roger Maurer Installation comprising a plurality of numerically controlled machine tools
US4442493A (en) * 1980-07-04 1984-04-10 Kabushiki Kaisha Komatsu Seisakusho Cutting tool retreat and return for workpiece protection upon abnormality occurrence in a preprogrammed machine tool
US4472783A (en) * 1980-07-21 1984-09-18 Kearney & Trecker Corporation Flexible manufacturing system
US4497019A (en) * 1981-03-20 1985-01-29 Gnb Batteries Inc. Programmable control system for controlling at least two parameters in a predetermined sequence using both analog and digital control signals
US4497029A (en) * 1981-04-15 1985-01-29 Mitsubishi Denki Kabushiki Kaisha Numerical control device
US4550366A (en) * 1981-10-17 1985-10-29 Toshiba Kikai Kabushiki Kaisha Programmable sequence controller and system
US4550375A (en) * 1982-02-13 1985-10-29 Makino Milling Machine Co., Ltd. Machining system with operating mode selectors provided in machine controller of each NC machine tool
US4580207A (en) * 1980-11-25 1986-04-01 Hitachi, Ltd. Numerical control data dividing and editing apparatus for numerical control machine tool
US4587607A (en) * 1980-07-07 1986-05-06 Fanuc Ltd. Numerical control device
US4641269A (en) * 1983-01-26 1987-02-03 Emhart Industries, Inc. Programmable control system for glassware forming machines
US4716349A (en) * 1983-09-01 1987-12-29 Mitsubishi Denki Kabushiki Kaisha Numerical control apparatus
US4730256A (en) * 1984-07-04 1988-03-08 Nippondenso Co., Ltd. Electronic control apparatus including microcomputers for controlling some of the systems found in a vehicle
US4751442A (en) * 1984-12-27 1988-06-14 Fanuc Ltd Servomotor drive control system
US4752868A (en) * 1986-03-17 1988-06-21 Tektronix, Inc. Remote master-slave control method
US4792817A (en) * 1983-08-29 1988-12-20 Diagraph Corporation Ink jet printing systems
US4802097A (en) * 1986-04-01 1989-01-31 Toshiba Kikai Kabushiki Kaisha Control systems of injection molding machines
US4841431A (en) * 1986-07-10 1989-06-20 Toyoda Koki Kabushiki Kaisha Programmable transfer machine
US5013989A (en) * 1988-02-26 1991-05-07 Fanuc Ltd. Numerical control apparatus for multiple-axis and multiple-channel machine tool
US5068585A (en) * 1989-05-08 1991-11-26 Mitsubishi Denki Kabushiki Kaisha Numerical control device
US5189624A (en) * 1989-09-29 1993-02-23 General Electric Company Intelligent machining workstation operating logic
US5252899A (en) * 1988-03-09 1993-10-12 Fanuc Ltd Numerical control system
US5359270A (en) * 1988-03-09 1994-10-25 Fanuc Ltd. Numerical control system
US5374231A (en) * 1990-12-18 1994-12-20 Erowa Ag Automatically operable manufacturing and machining plant
US5831849A (en) * 1995-03-30 1998-11-03 Nec Corporation Data control system
US5930141A (en) * 1995-12-21 1999-07-27 Hitchi Seiki Co., Ltd. Method of controlling access to storage means in numerical-control system, and numerical-control system
US5943240A (en) * 1996-10-09 1999-08-24 Nakamura; Kaoru Machine tool control system and method utilizing metal mold arrangement information
WO2003089999A1 (en) * 2002-04-22 2003-10-30 Aliko Automation Oy Cutting device with synchronized calibration units
US20040030452A1 (en) * 2002-08-06 2004-02-12 Stefan Graf Method and apparatus for the synchronous control of manipulators
US20070150089A1 (en) * 2004-03-19 2007-06-28 Siemens Aktiengesellschaft Operating method and apparatus for controlling a machine tool
US20090222114A1 (en) * 2006-03-30 2009-09-03 Andreas Drebinger Control and Communication System Including at Least One Automation Unit
US20100030367A1 (en) * 2006-11-21 2010-02-04 Eberhard Zentgraf Machine tool, operating method for a machine tool and objects associated therewith
US20170115655A1 (en) * 2015-10-27 2017-04-27 Institute For Information Industry Diagnostic device and diagnostic method
US9827716B2 (en) * 2014-06-23 2017-11-28 Airbus Operations (Sas) Process and device for direct fabrication of a part on a structure

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU6607581A (en) * 1980-01-24 1981-07-30 Fisher & Paykel Limited Manufacturing box-like articles from sheet material
JPS56139862A (en) * 1980-04-03 1981-10-31 Toshiba Mach Co Ltd Operation control system of machine tool group
JPS5731003A (en) * 1980-08-01 1982-02-19 Fanuc Ltd Numerical control system
JPS5790714A (en) * 1980-11-28 1982-06-05 Fanuc Ltd Monitor system of numerical control machine tool
JPS58197508A (ja) * 1982-05-14 1983-11-17 Toshiba Mach Co Ltd 大量生産機における加工ユニツトのプログラマブル制御方式
JPS58197509A (ja) * 1982-05-14 1983-11-17 Toshiba Mach Co Ltd 大量生産機における加工ユニツトの制御方式
JPS59123905A (ja) * 1982-12-29 1984-07-17 Fujitsu Ltd ロボツト制御方式
JPS59147203U (ja) * 1983-03-22 1984-10-02 三菱電機株式会社 数値制御装置
JP2548690B2 (ja) * 1984-02-20 1996-10-30 三菱電機株式会社 数値制御装置
US4818993A (en) * 1986-02-27 1989-04-04 Siemens Aktiengesellschaft Electronic control system for controlling several remote devices
JPH0648175A (ja) * 1992-06-22 1994-02-22 Kikumasa Pudakutsu Kk サンバイザーへのミラー取付け方法
DE102008035710B4 (de) 2008-07-30 2013-01-31 Jürgen Roleder Verfahren zum selbsttätigen Zurückführen eines Werkzeugs einer programmgesteuerten Werkzeugmaschine

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Patent Citations (6)

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US3576540A (en) * 1967-11-20 1971-04-27 Sundstrand Corp Plural machine tool and part handling control system
US3555516A (en) * 1968-08-26 1971-01-12 Allen Bradley Co Supervisory system for time-shared numerical control system
US3668653A (en) * 1968-10-22 1972-06-06 Sundstrad Corp Control system
US4100597A (en) * 1976-04-02 1978-07-11 International Business Machines Corporation Computer controlled distribution apparatus for distributing transactions to and from controlled machine tools having means independent of the computer for completing or stopping a tool function initiated by a computer transaction
US4079235A (en) * 1976-12-27 1978-03-14 Mcdonnell Douglas Corporation Computer numerically controlled threadcutting machine tool
US4176396A (en) * 1977-09-23 1979-11-27 The Charles Stark Draper Laboratory, Inc. Apparatus for directly measuring machine tool wear

Cited By (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4370705A (en) * 1979-09-18 1983-01-25 Fujitsu Fanuc Limited Sequence control system for numerically controlled machine tool
US4379987A (en) * 1979-10-09 1983-04-12 Fujitsu Fanuc Limited Spindle rotation control system
US4345192A (en) * 1979-10-09 1982-08-17 Fujitsu Fanuc Limited Control system for stopping spindle at predetermined rotational position
US4433383A (en) * 1979-12-27 1984-02-21 Roger Maurer Installation comprising a plurality of numerically controlled machine tools
US4442493A (en) * 1980-07-04 1984-04-10 Kabushiki Kaisha Komatsu Seisakusho Cutting tool retreat and return for workpiece protection upon abnormality occurrence in a preprogrammed machine tool
US4587607A (en) * 1980-07-07 1986-05-06 Fanuc Ltd. Numerical control device
US4472783A (en) * 1980-07-21 1984-09-18 Kearney & Trecker Corporation Flexible manufacturing system
US4580207A (en) * 1980-11-25 1986-04-01 Hitachi, Ltd. Numerical control data dividing and editing apparatus for numerical control machine tool
US4497019A (en) * 1981-03-20 1985-01-29 Gnb Batteries Inc. Programmable control system for controlling at least two parameters in a predetermined sequence using both analog and digital control signals
US4497029A (en) * 1981-04-15 1985-01-29 Mitsubishi Denki Kabushiki Kaisha Numerical control device
US4550366A (en) * 1981-10-17 1985-10-29 Toshiba Kikai Kabushiki Kaisha Programmable sequence controller and system
US4550375A (en) * 1982-02-13 1985-10-29 Makino Milling Machine Co., Ltd. Machining system with operating mode selectors provided in machine controller of each NC machine tool
FR2527011A1 (fr) * 1982-05-14 1983-11-18 Gnb Batteries Inc Appareil et procede pour le soudage de connexions entre elements de batteries
US4641269A (en) * 1983-01-26 1987-02-03 Emhart Industries, Inc. Programmable control system for glassware forming machines
US4792817A (en) * 1983-08-29 1988-12-20 Diagraph Corporation Ink jet printing systems
US4716349A (en) * 1983-09-01 1987-12-29 Mitsubishi Denki Kabushiki Kaisha Numerical control apparatus
US4730256A (en) * 1984-07-04 1988-03-08 Nippondenso Co., Ltd. Electronic control apparatus including microcomputers for controlling some of the systems found in a vehicle
US4751442A (en) * 1984-12-27 1988-06-14 Fanuc Ltd Servomotor drive control system
US4752868A (en) * 1986-03-17 1988-06-21 Tektronix, Inc. Remote master-slave control method
US4802097A (en) * 1986-04-01 1989-01-31 Toshiba Kikai Kabushiki Kaisha Control systems of injection molding machines
US4841431A (en) * 1986-07-10 1989-06-20 Toyoda Koki Kabushiki Kaisha Programmable transfer machine
US5013989A (en) * 1988-02-26 1991-05-07 Fanuc Ltd. Numerical control apparatus for multiple-axis and multiple-channel machine tool
US5252899A (en) * 1988-03-09 1993-10-12 Fanuc Ltd Numerical control system
US5359270A (en) * 1988-03-09 1994-10-25 Fanuc Ltd. Numerical control system
US5068585A (en) * 1989-05-08 1991-11-26 Mitsubishi Denki Kabushiki Kaisha Numerical control device
US5189624A (en) * 1989-09-29 1993-02-23 General Electric Company Intelligent machining workstation operating logic
US5374231A (en) * 1990-12-18 1994-12-20 Erowa Ag Automatically operable manufacturing and machining plant
US5831849A (en) * 1995-03-30 1998-11-03 Nec Corporation Data control system
US5930141A (en) * 1995-12-21 1999-07-27 Hitchi Seiki Co., Ltd. Method of controlling access to storage means in numerical-control system, and numerical-control system
US5943240A (en) * 1996-10-09 1999-08-24 Nakamura; Kaoru Machine tool control system and method utilizing metal mold arrangement information
WO2003089999A1 (en) * 2002-04-22 2003-10-30 Aliko Automation Oy Cutting device with synchronized calibration units
US20040030452A1 (en) * 2002-08-06 2004-02-12 Stefan Graf Method and apparatus for the synchronous control of manipulators
US7024250B2 (en) * 2002-08-06 2006-04-04 Kuka Roboter Gmbh Method and apparatus for the synchronous control of manipulations
US20070150089A1 (en) * 2004-03-19 2007-06-28 Siemens Aktiengesellschaft Operating method and apparatus for controlling a machine tool
US7421307B2 (en) * 2004-03-19 2008-09-02 Siemens Aktiengesellschaft Operating method and apparatus for controlling a machine tool
US20090222114A1 (en) * 2006-03-30 2009-09-03 Andreas Drebinger Control and Communication System Including at Least One Automation Unit
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JPS6244281B2 (enrdf_load_stackoverflow) 1987-09-19
JPS54106780A (en) 1979-08-22
DE2904080C2 (de) 1984-03-01
DE2904080A1 (de) 1979-08-09

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